Push，Stop，and Replan：Pebble Motion on Graphs在自动化仓库规划中的应用
Push, Stop, and Replan: An Application of Pebble Motion on Graphs to Planning in Automated Warehouses
摘要：
图上的卵石运动是多智能体寻路问题的一个子类别，处理将多个卵石状物体从图中的一个节点移动到一个节点，并限制在给定时间只有一个卵石可以占据一个节点。此外，解决这个问题的算法假设单个鹅卵石（机器人）不能同时移动，并且它们的移动是离散的。这些假设使它们不能直接用于实际应用，尽管它们具有其他良好的理论性质。本文对Push and Rotate算法[1]进行了改进，放宽了上述假设，并通过一系列实验证明改进后的算法适用于自动化仓库的规划。
英文摘要：
The pebble-motion on graphs is a subcategory of multi-agent pathfinding problems dealing with moving multiple pebble-like objects from a node to a node in a graph with a constraint that only one pebble can occupy one node at a given time. Additionally, algorithms solving this problem assume that individual pebbles (robots) cannot move at the same time and their movement is discrete. These assumptions disqualify them from being directly used in practical applications, although they have otherwise nice theoretical properties. We present modifications of the Push and Rotate algorithm [1], which relax the presumptions mentioned above and demonstrate, through a set of experiments, that the modified algorithm is applicable for planning in automated warehouses.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
